CN107562042B - Signal generating device, self-moving robot system and signal generating method - Google Patents
Signal generating device, self-moving robot system and signal generating method Download PDFInfo
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Abstract
The invention discloses a signal generating device, which comprises a signal generating element and a signal enhancer, wherein the signal enhancer can be selectively connected with or separated from the signal generating element, the signal generating element is used for generating a first boundary signal, the signal enhancer is used for generating a second boundary signal, the signal generating element or the signal enhancer selectively sends out the first boundary signal or the second boundary signal according to whether the signal generating element or the signal enhancer is connected with each other, and the strength of the second boundary signal is larger than that of the first boundary signal. The signal generating device disclosed by the invention has the advantages that for small-area and simple working conditions, the signal generating element is in a working state, so that energy conservation can be ensured under the small-area and simple working conditions; for large-area and complex working conditions, the signal enhancer is in a working state, and the situation that boundary signals cannot be searched in the large-area and complex working conditions is avoided, so that the situation that the self-moving robot system is stopped is avoided. The invention also discloses a self-moving robot system and a signal generation method.
Description
Technical Field
The invention relates to the technical field of garden machinery, in particular to a signal generating device, a self-moving robot system and a signal generating method.
Background
With the development of science and the progress of society, environmental greening becomes an important subject of people's study, and intelligent equipment is used as a mechanical tool for trimming lawns, vegetation and the like, and slowly walks into people's life, liberates people from the work of building lawns, and provides great convenience for people's life.
In order to ensure that the intelligent device works within a preset working range, a boundary system is generally adopted to control the working range of the automatic walking device. The boundary signal strength sent by the signal generating device in the intelligent equipment used at present is single, so that the intelligent equipment is weak in a large-area grassland central signal, and the phenomenon that the intelligent equipment is stopped because the boundary signal cannot be searched easily occurs; for special complex working conditions, the phenomenon that boundary signals cannot be searched in a specific scene, so that intelligent equipment is stopped easily occurs.
Disclosure of Invention
Based on the above, it is necessary to provide a signal generating device, a self-moving robot system and a signal generating method for solving the problems that the boundary signal intensity of the intelligent device is single, the boundary signal is weak in the center signal of the large-area grassland, the boundary signal is easy to search, and the boundary signal is easy to search in a specific scene under a special complex working condition, so that the intelligent device is stopped.
A signal generating device comprises a signal generating element and a signal enhancer, wherein the signal enhancer can be selectively connected with or separated from the signal generating element, the signal generating element is used for generating a first boundary signal, the signal enhancer is used for generating a second boundary signal, the signal generating element or the signal enhancer selectively sends out the first boundary signal or the second boundary signal according to whether the signal generating element or the signal enhancer is connected with each other, and the strength of the second boundary signal is larger than that of the first boundary signal.
The signal generating device comprises a signal generating element and a signal enhancer, wherein the signal generating element generates a first boundary signal, the signal enhancer generates a second boundary signal, the strength of the second boundary signal is larger than that of the first boundary signal, the signal generating element can be in a working state for small area and simple working conditions, the signal generating element generates a low-strength first boundary signal, and energy conservation can be ensured in the small area and simple working conditions; for large-area and complex working conditions, the signal enhancer can be in a working state, and the signal enhancer generates a high-strength second boundary signal, so that the situation that the boundary signal cannot be searched in the large-area and complex working conditions is avoided, and the situation that the self-moving robot system is stopped is avoided.
In one embodiment, the signal generating element has a first identification port and the signal booster has a second identification port, the signal generating element and the signal booster being connected by the first identification port and the second identification port.
In one embodiment, the signal generating element includes a first signal trigger and a first control unit that are connected to each other, the first identification port is connected to the first control unit, the first signal trigger is used for generating the first boundary signal, the signal enhancer includes a second signal trigger and a second control unit that are connected to each other, the second identification port is connected to the second control unit, and the second signal trigger is used for generating the second boundary signal.
In one embodiment, the first control unit is configured to control whether the first signal trigger sends the first boundary signal according to whether the first identification port and the second identification port are connected, and the second control unit is configured to control whether the second signal trigger sends the second boundary signal according to whether the first identification port and the second identification port are connected.
In one embodiment, the signal generating device further comprises a boundary line, the first signal trigger is connected to the boundary line, and the second signal trigger is selectively connected to or disconnected from the boundary line.
In one embodiment, the signal generating element further has a third identification port connected to the boundary line, and the signal enhancer further has a fourth identification port, the third identification port and the fourth identification port being selectively connectable or disconnectable.
In one embodiment, the signal generating element further includes a fifth identification port, the signal booster further includes a sixth identification port, the second signal trigger is connected to the sixth identification port, the fifth identification port and the sixth identification port are selectively connectable or disconnectable, and the signal generating device further includes a power source, and the first signal trigger and the fifth identification port are respectively connected to the power source.
A self-moving robotic system comprising:
a signal generating device as claimed in any one of the preceding claims; and
And the self-moving robot is used for sensing the first boundary signal or the second boundary signal sent by the signal generating device.
The self-moving robot system provided by the invention can enable the signal generating element to be in a working state for a small area and a simple working condition, and the signal generating element can generate a first boundary signal with low intensity to the boundary line, so that energy conservation can be ensured in the small area and the simple working condition; for large-area and complex working conditions, the signal enhancer can be in a working state, and the signal enhancer generates a high-strength second boundary signal to the boundary line, so that the situation that the boundary signal cannot be searched in the large-area and complex working conditions is avoided, and the situation that the self-moving robot system is stopped is avoided.
In one embodiment, the self-moving robot system further comprises a charging station for providing electrical energy or/and docking to the self-moving robot.
In one embodiment, the self-moving robotic system further comprises:
the signal detection device is arranged on the self-moving robot and is used for detecting a magnetic field generated when the first boundary signal or the second boundary signal flows through the boundary line, so that a detection result is generated;
and the control unit is arranged on the self-moving robot and used for receiving the detection result and controlling the self-moving robot to move according to the detection result.
A signal generation method comprising the steps of:
judging whether the signal generating element is connected with the signal enhancer or not;
and transmitting a first boundary signal by the signal generating element or a second boundary signal by the signal enhancer according to the state of whether the signal generating element and the signal enhancer are connected.
The signal generation method provided by the invention can send low-intensity boundary signals for small areas and simple working conditions; for large-area and complex working conditions, a high-strength boundary signal can be sent, and the situation that the boundary signal cannot be searched in the large-area and complex working conditions is avoided, so that the situation that the self-moving robot system is stopped is avoided.
Drawings
FIG. 1 is a schematic block diagram of a self-moving robotic system according to one embodiment of the present invention;
fig. 2 is an assembly process diagram of a charging station of a self-mobile robot system according to an embodiment of the present invention;
FIG. 3 is an assembly view of FIG. 2;
FIG. 4 is a block diagram of a view of FIG. 3;
fig. 5 is a block diagram illustrating a case where a charging station of a self-mobile robot system according to an embodiment of the present invention is connected to a boundary line;
fig. 6 is a side view of fig. 5.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Referring to fig. 1, an embodiment of the present invention provides a signal generating device, which includes a signal generating element 20 and a signal enhancer 30, wherein the signal enhancer 30 is selectively connected to or separated from the signal generating element 20, the signal generating element 20 is configured to generate a first boundary signal, the signal enhancer 30 is configured to generate a second boundary signal, and the signal generating element 20 or the signal enhancer 30 selectively sends out the first boundary signal or the second boundary signal according to whether the signal generating element 20 or the signal enhancer 30 is connected to each other, and the intensity of the second boundary signal is greater than that of the first boundary signal. Specifically, when the signal booster 30 is separated from the signal generating element 20, the signal generating element 20 emits a first boundary signal, and when the signal booster 30 is connected to the signal generating element 20, the signal generating element 20 does not emit a first boundary signal, and the signal booster 30 emits a second boundary signal.
The signal generating device provided by the invention comprises a signal generating element 20 and a signal enhancer 30, wherein the signal generating element 20 generates a first boundary signal, the signal enhancer 30 generates a second boundary signal, the strength of the second boundary signal is larger than that of the first boundary signal, for small-area and simple working conditions, the signal generating element 20 can be in a working state, the signal generating element 20 generates a first boundary signal with low strength, and energy saving in the small-area and simple working conditions can be ensured; for large-area and complex working conditions, the signal enhancer 30 can be in a working state, the signal enhancer 30 generates a high-strength second boundary signal, and the situation that the boundary signal cannot be searched for in the large-area and complex working conditions is avoided, so that the situation that the self-moving robot system is stopped is avoided.
In the present embodiment, the signal generating element 20 has a first identification port 23, the signal booster 30 has a second identification port 33, and the signal generating element 20 and the signal booster 30 are connected through the first identification port 23 and the second identification port 33. Specifically, the signal enhancer 30 emits the second boundary signal while turning off the first boundary signal when the first identification port 23 and the second identification port 33 are connected, and the signal generating element 20 emits the first boundary signal when the first identification port 23 and the second identification port 33 are disconnected.
In the present embodiment, the signal generating element 20 includes a first signal trigger 21 and a first control unit 22 that are connected to each other, the first identification port 23 is connected to the first control unit 22, the first signal trigger 21 is used for generating a first boundary signal, the signal booster 30 includes a second signal trigger 31 and a second control unit 32 that are connected to each other, the second identification port 33 is connected to the second control unit 32, and the second signal trigger 31 is used for generating a second boundary signal.
Specifically, the first control unit 22 is configured to control whether the first signal trigger 21 emits the first boundary signal according to whether the first identification port 23 and the second identification port 33 are connected, and further, the second control unit 32 is configured to control whether the second signal trigger 31 emits the second boundary signal according to whether the first identification port 23 and the second identification port 33 are connected. When the first identification port 23 and the second identification port 33 are disconnected, the first control unit 22 receives the signal of the unconnected signal booster 30 sent from the first identification port 23, and controls the first signal trigger 21 to generate a first boundary signal; when the first identification port 23 and the second identification port 33 are connected, the first control unit 22 turns off the first signal trigger 21 by the identification signal transmitted from the second control unit 32 received by the first identification port 23, stops transmitting the first boundary signal, and simultaneously the second control unit 32 controls the second signal trigger 31 to transmit the second boundary signal.
In the present embodiment, the signal generating device further includes a boundary line 10, the first signal trigger 21 is connected to the boundary line 10, and the second signal trigger 31 is selectively connected to or disconnected from the boundary line 10. When the first identification port 23 and the second identification port 33 are disconnected, the first boundary signal generated by the first signal trigger 21 is directly transmitted to the boundary line 10; when the first identification port 23 and the second identification port 33 are connected, the second boundary signal generated by the second signal trigger 31 is transmitted to the boundary line 10. The first boundary signal or the second boundary signal generates a magnetic field when flowing through the boundary line 10.
Further, the signal generating element 20 further has a third identification port 24, the third identification port 24 being connected to the boundary line 10, and the signal booster 30 further has a fourth identification port 34, the third identification port 24 and the fourth identification port 34 being selectively connectable or disconnectable. When the first identification port 23 and the second identification port 33 are connected, the second boundary signal generated by the second signal trigger 31 is transmitted to the third identification port 24 through the fourth identification port 34 and then to the boundary line 10.
In this embodiment, the signal generating element 20 further includes a fifth identification port 25, the signal booster 30 further includes a sixth identification port 35, the second signal trigger 31 is connected to the sixth identification port 35, the fifth identification port 25 and the sixth identification port 35 can be selectively connected or disconnected, the signal generating device further includes a power source 40, and the first signal trigger 21 and the fifth identification port 25 are respectively connected to the power source 40. Thus, the power supply 40 supplies power to both the first signal flip-flop 21 and the second signal flip-flop 31.
Referring to fig. 1, an embodiment of the present invention further provides a self-moving robot system, including:
the signal generating device; and
The self-moving robot is used for sensing the first boundary signal or the second boundary signal sent by the signal generating device.
The self-mobile robot system provided by the embodiment of the invention comprises a signal generating device, wherein a signal generating element 20 of the signal generating device generates a first boundary signal, a signal enhancer 30 of the signal generating device generates a second boundary signal, the strength of the second boundary signal is larger than that of the first boundary signal, for small area and simple working conditions, the signal generating element 20 can be in a working state, and a first signal trigger 21 generates a first boundary signal with low strength, so that energy conservation in the small area and simple working conditions can be ensured; for large-area and complex working conditions, the signal enhancer 30 can be in a working state, the second signal trigger 31 generates a high-intensity second boundary signal, and the situation that the boundary signal cannot be searched for in the large-area and complex working conditions is avoided, so that the situation that the self-moving robot system is stopped is avoided.
Specifically, the intensity of the second boundary signal is far greater than that of the first boundary signal, and the boundary signal can be sent by adopting a signal enhancer in a large-area and complex working condition.
Referring to fig. 2, 3 and 4, the self-moving robot system further includes a charging station 50 for providing power to the self-moving robot or/and docking. When the self-moving robot has insufficient electric quantity, the self-moving robot can automatically return to the charging station 50 for charging, and the boundary line 10 can serve as a guide line of the self-moving robot to guide the self-moving robot to return to the charging station 50, as shown in fig. 5 and 6. The charging station 50 may also be used as a docking station for a self-moving robot.
The signal generating device is electrically connected to the charging station 50. More specifically, the signal generating element 20 and the signal booster 30 of the signal generating device are both disposed on the charging station 50. The charging station 50 can then not only charge the self-moving robot, but also act as a source of the emitted boundary signal.
Referring to fig. 2, in the present embodiment, the signal generating element 20 is fixedly arranged on the charging station 50, and the signal booster 30 is detachably connected to the charging station 50. When working under large-area and complex working conditions, the signal enhancer 30 can be installed on the charging station 50, and when working under small-area and simple working conditions, the signal enhancer 30 can be detached from the charging station 50, and the signal enhancer 30 is used as a single module, so that the charging station is convenient to use.
Further, the self-moving robot system further includes:
signal detection means (not shown) provided in the self-moving robot for detecting a magnetic field generated when the first boundary signal or the second boundary signal passes through the boundary line 10, thereby generating a detection result;
and a control unit (not shown) which is arranged on the self-moving robot and is used for receiving the detection result and controlling the self-moving robot to move according to the detection result.
An embodiment of the present invention further provides a signal generating method for transmitting a signal by using the signal generating device, including the following steps:
determining whether the signal generating element 20 and the signal booster 30 are connected;
the first boundary signal is transmitted by the signal generating element 20 or the second boundary signal is transmitted by the signal booster 30 according to the state of whether the signal generating element 20 and the signal booster 30 are connected.
In one embodiment, the step of determining whether the signal generating element 20 and the signal booster 30 are connected is specifically:
it is determined whether the first identification port 23 and the second identification port 33 are connected.
In one embodiment, the step of transmitting the first boundary signal or the second boundary signal according to the state of whether the signal generating element 20 and the signal booster 30 are connected is specifically:
the first control unit 22 controls whether the first signal trigger 21 emits the first boundary signal according to whether the first identification port 23 and the second identification port 33 are connected, the second control unit 32 controls whether the second signal trigger 31 emits the second boundary signal according to whether the first identification port 23 and the second identification port 33 are connected, when the first identification port 23 and the second identification port 33 are disconnected, the first identification port 23 generates a signal of the unconnected signal booster 30 and sends the signal to the first control unit 22, and the first control unit 22 controls the first signal trigger 21 to generate the first boundary signal; when the first identification port 23 and the second identification port 33 are connected, the first identification port 23 generates a signal of the connected signal booster 30 and transmits the signal to the first control unit 22, the first control unit 22 turns off the first signal trigger 21, stops transmitting the first boundary signal, and simultaneously the second control unit 32 controls the second signal trigger 31 to transmit the second boundary signal.
In one embodiment, when the first identification port 23 and the second identification port 33 are connected, the step of the second signal trigger 31 transmitting the second boundary signal is specifically:
the second boundary signal generated by the second signal trigger 31 is transmitted to the third identification port 24 through the fourth identification port 34 and then to the boundary line 10.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (11)
1. A signal generating device, comprising a signal generating element and a signal enhancer, wherein the signal enhancer is selectively connected with or separated from the signal generating element, the signal generating element is used for generating a first boundary signal, the signal enhancer is used for generating a second boundary signal, and when the signal enhancer is separated from the signal generating element, the signal generating element sends out the first boundary signal; when the signal booster is connected with the signal generating element, the signal booster sends out the second boundary signal; the intensity of the second boundary signal is greater than the intensity of the first boundary signal.
2. The signal generating device of claim 1, wherein the signal generating element has a first identification port and the signal booster has a second identification port, the signal generating element and the signal booster being connected by the first identification port and the second identification port.
3. The signal generating device of claim 2, wherein the signal generating element comprises a first signal trigger and a first control unit connected to each other, the first identification port being connected to the first control unit, the first signal trigger being configured to generate the first boundary signal, the signal booster comprising a second signal trigger and a second control unit connected to each other, the second identification port being connected to the second control unit, the second signal trigger being configured to generate the second boundary signal.
4. The signal generating device according to claim 3, wherein the first control unit is configured to control whether the first signal trigger emits the first boundary signal according to whether the first identification port and the second identification port are connected, and the second control unit is configured to control whether the second signal trigger emits the second boundary signal according to whether the first identification port and the second identification port are connected.
5. A signal generating device according to claim 3, further comprising a boundary line, wherein the first signal trigger is connected to the boundary line and the second signal trigger is selectively connected to or disconnected from the boundary line.
6. The signal generating device of claim 5, wherein the signal generating element further has a third identification port, the third identification port being connected to the boundary line, the signal booster further having a fourth identification port, the third identification port and the fourth identification port being selectively connectable or disconnectable.
7. A signal generating device as claimed in claim 3, wherein the signal generating element further comprises a fifth identification port, the signal booster further comprises a sixth identification port, the second signal trigger is connected to the sixth identification port, the fifth identification port and the sixth identification port are selectively connectable or disconnectable, the signal generating device further comprises a power source, and the first signal trigger and the fifth identification port are respectively connected to the power source.
8. A self-moving robotic system, comprising:
the signal generating device according to any one of claims 1 to 7; and
And the self-moving robot is used for sensing the first boundary signal or the second boundary signal sent by the signal generating device.
9. The self-moving robotic system of claim 8, further comprising a charging station for providing electrical energy to the self-moving robot or/and docking.
10. The self-moving robot system according to claim 8, wherein the signal generating means includes a boundary line, the self-moving robot system further comprising:
the signal detection device is arranged on the self-moving robot and is used for detecting a magnetic field generated when the first boundary signal or the second boundary signal flows through the boundary line, so that a detection result is generated;
and the control unit is arranged on the self-moving robot and used for receiving the detection result and controlling the self-moving robot to move according to the detection result.
11. A signal generation method, comprising the steps of:
judging whether the signal generating element is connected with the signal enhancer or not;
when the signal enhancer is separated from the signal generating element, the signal generating element emits a first boundary signal, and when the signal enhancer is connected with the signal generating element, the signal enhancer emits a second boundary signal, and the intensity of the second boundary signal is larger than that of the first boundary signal.
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| CN110895411B (en) * | 2018-09-11 | 2024-05-14 | 苏州宝时得电动工具有限公司 | Automatic working system, signal station and charging station |
| CN111142516A (en) * | 2019-12-12 | 2020-05-12 | 南京苏美达智能技术有限公司 | Interactive system, base station and method for determining working area of self-walking equipment |
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